Vehicular vision system using image data transmission and power supply via a coaxial cable

ABSTRACT

A vehicular vision system includes a plurality of imaging sensors disposed at a vehicle and having respective exterior fields of view, each of the imaging sensors capturing respective image data. The imaging sensors are connected to a control via respective ones of a plurality of single core coaxial cables. The control is disposed at the vehicle and includes (i) a data processor and (ii) a DC power supply. Each single core coaxial cable commonly carries (i) image data from the respective imaging sensor to the control for processing and (ii) power from the DC power supply of the control to the respective imaging sensor. Each of the imaging sensors is in bidirectional communication with the control over the respective single core coaxial cable, with signal attenuation being below 100 dB at a frequency of 1 GHz per 100 m length of the respective single core coaxial cable.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 16/401,163, filed May 2, 2019, now U.S. Pat. No. 10,567,633,which is a continuation of U.S. patent application Ser. No. 15/899,111,filed Feb. 19, 2018, now U.S. Pat. No. 10,284,764, which is acontinuation of U.S. patent application Ser. No. 15/438,825, filed Feb.22, 2017, now U.S. Pat. No. 9,900,490, which is a continuation of U.S.patent application Ser. No. 14/343,936, filed Mar. 10, 2014, which is a371 national phase filing of PCT Application No. PCT/US2012/056014,filed Sep. 19, 2012, which claims the filing benefit of U.S. provisionalapplications, Ser. No. 61/653,664, filed May 31, 2012, Ser. No.61/567,446, filed Dec. 6, 2011, Ser. No. 61/567,150, filed Dec. 6, 2011,and Ser. No. 61/537,279, filed Sep. 21, 2011, which are herebyincorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles and, more particularly, to a vision system that includes atleast one imaging device or camera and high resolution camera datasignal transfer.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle, and provides the communication/data signals, includingcamera data or image data (main channel), communication data (backchannel) and the power supply, over a single or common coaxial cable.

Optionally, a system that modulates the signals (including power supply)without reduction in the amplitude may be used to provide enhancedsignals over the single or common coaxial cable, may be implementedbetween the camera and control or ECU or the like.

Optionally, a vision system according to the present invention mayinclude a control disposed at the vehicle, and when initially poweringup the vision system, a transceiver of the imaging sensor is tuned to aninitial communication mode, which is suitable for communication with thecontrol and/or a communication interface of the vision system and/or adisplay device of the vision system.

The present invention also provides a vision system or imaging systemfor a vehicle that utilizes one or more cameras to capture imagesexterior of the vehicle, and provides the communication/data signals,including camera data or image data, that may be processed and,responsive to such image processing, the system may detect an object ator near the vehicle and in the path of travel of the vehicle, such aswhen the vehicle is backing up. In order to calibrate the system andcamera or cameras, the present invention provides camera side band datatransmission by overlay of calibration data or codes to the sent orcommunicated image or image data.

According to another aspect of the present invention, a vision systemfor a vehicle includes a camera or image sensor disposed at a vehicleand having a field of view exterior of the vehicle, and a processoroperable to process data transmitted by the camera. The camera isoperable to automatically transmit calibration data or codes and theprocessor is operable to receive the calibration data or codestransmitted by the camera. The camera automatically transmits thecalibration data or codes when the camera is triggered to transmit thecalibration data or codes. The vision system, responsive to receipt ofthe calibration data or codes, is operable to identify the camera andassociated calibration codes or data. The calibration data or codes maycomprise an overlay or graphic or pattern overlay in the image datacaptured by the camera and transmitted by the camera to the processor.

Optionally, the camera may automatically transmit the calibration dataor codes responsive to an initial activation of the camera and/or thevision system. Optionally, the camera may automatically transmit thecalibration data or codes responsive to detection of a particularpattern or the like in the field of view of the camera.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram of a state of the art symmetric LVDS transfer and DCsupply via twisted pair cable using four independent lines;

FIG. 2 is a diagram of a state of the art LVDS transfer and DC supplyvia a single core coaxial cable with shield, having inductive data/powerdecoupling and current modulated signals, used in an automotive cameraapplication;

FIG. 3 is a schematic of signal generation via a symmetric LVDS driverchip, having pulled one driver side to ground, to be used with atransmitter according FIG. 2;

FIG. 4A is a schematic of an asymmetric LVDS transmission and DC supplyvia a single core coaxial cable with shield, having inductive data/powerdecoupling and current modulated signals using an asymmetric signaldriver, applied in an automotive camera system in accordance with thepresent invention;

FIG. 4B is a schematic of an asymmetric LVDS transmission and DC supplyvia a single core coaxial cable with shield, having inductive data/powerdecoupling and current modulated signals using an more simplifiedasymmetric signal driver and data decoupling filters in comparison tothe embodiment shown in FIG. 4A, as applied in an automotive camerasystem in accordance with the present invention;

FIGS. 5 and 6 are schematic layer build ups of state of the art coaxialcable (such as a cable of the type FL09YHBC11Y from POLYFLEX®), knownfor use from analog image transmission in automotive and LVDStransmission for home entertainment devices;

FIGS. 7A and 8A are schematic layer build ups of coaxial cable, usingadvanced materials for improved bending capabilities and havingautomotive compatible signal attenuation;

FIGS. 7B and 8B are second examples of schematic layer build-ups ofcoaxial cable, using advanced materials for improved bendingcapabilities and having automotive compatible signal attenuation;

FIGS. 7C and 8C are third examples of schematic layer build-ups ofcoaxial cable, using another set of advanced materials for improvedbending capabilities and having automotive compatible signalattenuation;

FIG. 9 is a diagram of signal attenuation over frequency of a state ofthe art HSD (high speed data) twisted pair cable (such as a Leoni Dacar535-2 cable);

FIG. 10 is a diagram of signal attenuation over frequency of a coaxialcable according FIGS. 7 and 8, in accordance with the present invention;

FIG. 11 is an example of a n×m matrix for minimizing the amount ofnecessary camera connector interface standards ‘n’ to cable variants‘m’;

FIG. 12 shows a front view of a common (FAKRA™) single core coaxialcable connector interface according to the present invention, as appliedon an automotive camera printed circuit board (PCB);

FIG. 13 shows a rear view of a common (FAKRA™) single core coaxial cableconnector interface according to the present invention, as applied on anautomotive camera PCB, with the interface (m) optionally used forseveral data transmission standards (n) according to the matrix of FIG.11;

FIG. 14 is a plan view of a vehicle with a vision system and imagingsensors or cameras that provide exterior fields of view in accordancewith the present invention;

FIG. 15 is an example of a calibration set which may be transferredthrough an image channel, coded by a color pattern divided up into threeconsecutive captured images or frames so the code images are differentto each other, shown as black and white instead of colors for clarity;

FIG. 16 is an example of a time scheme transferring camera data withinthe first three frames, such as, for example, during initialization,shown with dark gray: camera data; light gray: image data; and white: nodata;

FIG. 17 is an example of a time scheme transferring camera data during avertical blanking interval, with the time of the blanking interval beingrelatively small compared to the time it takes to transfer an imageframe, shown with dark gray: camera data; light gray: image data; andwhite: no data);

FIG. 18 is the zoomed out timeframe of the vertical blanking timeinterval of FIG. 17, shown with 16 data bit being transferred within oneinterval, and shown with dark gray: camera data; light gray: image data;very dark gray: high pulse (positive bits) within vertical blankinginterval; and white: no data); and

FIGS. 19-22 are tables showing elements of coaxial cables.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Low-voltage differential signaling (LVDS) is known, such as described inU.S. Pat. No. 7,843,235 (and such as shown in FIG. 1), and EPPublication No. EP000002247047A1 (asymmetric LVDS, such as shown inFIGS. 2 and 3), and asymmetric LVDS drive stage chips and automotiveapplications have been proposed, such as by EQCOLOGIC® (seehttp://www.eqcologic.com, LVDS driver via coax application examples forautomotive cameras), which are all hereby incorporated herein byreference in their entireties.

Coaxial cables used for LVDS are known from Figures in EP000002247047A1and the cable itself by cable supplier specifications, such as, forexample, a POLYFLEX® type of cable commercially available as FL09YHBC11Y(see FIGS. 5 and 6 and Table 1 of FIG. 19).

Automotive high resolution camera data signal (stream) transfer forcameras in automotive doors (side mirrors) and hatches cables must berobust due to bending. The data signal transfer and the screeningattenuation must be sufficient to cope with automotive EMC tests andmust attain a high enough data rate. The non-coaxial HSD-cables mayprovide a good screening attenuation (see FIG. 9), but are typicallymuch more expansive, are typically hard to assemble connectors, aretypically hard to maintain in workshops, and are typically worse inbending capabilities (the twisted pair multi core wires tend to losetheir arrangement, so the dielectric performance diminishes).

Single core coaxial cables are highly symmetric. Because of this, such acable provides enhanced bending capabilities than those of multi-corecoaxial cables and (non-coaxial) HSD-cables because it's structuralgeometrics do not get out of order as readily. The attenuationperformance is comparable to that of HSD cables. The connectors are easyto apply and are readily maintained. Thus, there is a reduced desire touse coaxial cables for automotive high resolution camera data signaltransfer.

Asymmetric signal transfer with LVDS+ and − driver stages with onedriver side set to ground over 50 ohms (such as shown in FIG. 3) showthe disadvantage of a 50 percent signal strength loss. State of the artcoaxial cables hardly meet automotive requirements in combination ofbending capability and attenuation performance.

Thus, enhanced signal transfer is desired, and this may be achieved byusing a single side driver stage for asymmetric signal line transfer,such as shown in FIG. 4A. As shown in FIG. 4A, the negative line driverhas been eliminated, which simplifies the circuit. Thus, the signal tonoise ratio of the transmitter gets improved substantially (such as bynearly 100 percent or thereabouts).

To divide data (AC) from supply currents (DC) decoupling filters are inuse. The may filter both the ground/negative signal line (coaxial cableshield) and the power/positive signal line as to be seen in FIG. 4A) ormore simplified just one node as to be seen in FIG. 4B.

The decoupling filters maintain inductors. As higher the signalfrequency becomes chosen as smaller the filter inductors can be chosenaccording following equations:Z=ωLω=2*π*fZ=2*π*f*L

It is also desirable to provide enhanced bending capability andattenuation performance for automotive applications. This can beachieved by using a fluorinated ethylene propylene (FEP)perfluoroethylene-propylene plastic in the insulation layer of LVDScoaxial cables. Such a construction provides enhanced elasticity, andhas comparable dielectric performance (such as shown in FIG. 10), andmakes the cable more robust on repeated bending. Additionally, whencombined by using a PUR-PVC material in the sheath, the cableconstruction also makes the cable easier to bend and mechanically morerobust (see FIGS. 7A and 8A and Table 2 of FIG. 20).

Enhanced bending capability and attenuation can also become achieved byusing a PP (poly-propylene) foam skin as a dielectric medium andoptionally an aluminum foil instead of a separating fleece. Such aconstruction provides enhanced elasticity, and improves the attenuationfurther due to the additional shielding layer 1.5 (see FIGS. 7B and 8Band Table 3 of FIG. 21). Optionally, and with reference to FIGS. 7C and8C and Table 4 of FIG. 22, another schematic of layer build-ups ofcoaxial cable is shown, using another set of advanced materials forimproved bending capabilities and having automotive compatible signalattenuation, in accordance with the present invention.

Such cables achieve high bending when the bending radius is higher thanabout 10 times the diameter, and are automotive temperature (such asabout −40 degrees C. to about 125 degrees C.) capable. The attenuationstays below around 100 dB (nominal) at about 1 GHz, and about 150 dB atabout 2 GHz and about 180 dB at about 3 GHz per 100 m cable orthereabouts.

Thus, and with reference to FIGS. 4A and 4B, a vehicle may an imagingsystem or vision system 10 that includes at least one imaging sensor orcamera 12, which capture images (such as images interior or exterior ofthe vehicle), and which communicates image data to a control system orcontrol or processor or display system 14 via a communication link 16.The communication link 16 comprises a single coaxial cable thatcommunicates power supply to the camera 12 and camera or image data fromthe camera 12 to the control 14. The present invention thus provides ameans to communicate or send all data, including camera data or capturedimage data (main channel), communication data (back channel) and thepower supply over a single or common link or coaxial cable.

Devices or systems supporting coaxial cables are developing. With fullduplex devices, the system can send just over the low-voltagedifferential signaling (LVDS)+pin with LVDS-pin over 50 Ohm to ground.Thus, the system may provide only about half of the signal amplitude,but this is sufficient to send at least about 1.6 Gbps over about a 15 mcoaxial cable without any errors. Various suitable coaxial cables may beused to pass the OEM requirements. For example, the system may includeserial link chipsets at the ends of the cable or link, such as, forexample, a MAX9259 chipset at the camera end of the link and a MAX 9260deserializer chipset at the display end of the link, such as arecommercially available from Maxim of Sunnyvale, Calif., which provides agigabit multimedia serial link (GMSL) technology. The MAX9259 serializermay pair with the MAX9260 deserializer to form a complete digital seriallink for joint transmission of high-speed video, audio, and controldata.

The chipsets may be implemented with a suitable coaxial cable, such as,for example, a 50 Ohm coaxial cable that provides up to about a 12 dBloss. Suitable cables include, for example, a Leoni Dacar 037 cable, aLeoni Dacar 320 cable, a Leoni Dacar 642 cable, a Leoni Dacar 380 cable,a LEONI DACAR® 4xx-KOAX-C-50-1,52-2,8/T125 cable, a Kroschu 64918930cable, a Kroschu 64924651 cable or a Gebauer & Griller FL09YHBC11Y0,35(0,26)2,1 KX 50/1 cable, or the like.

Optionally, a vision system may incorporate a system that providesbidirectional full duplex communication over a single coax cable. Forexample, the system may comprise an EQCO850SC single coaxtransceiver/system (commercially available from Eqcologic USA of FlowerMound, Tex. Such a system is designed to simultaneously transmit andreceive signals on a single 75 Ohm coax cable up to about 1.25 Gbps inboth directions. The power supply can be delivered in parallel over thesame coax by a current up to about 900 mA. Such a system is compatiblewith LVDS, CML and other NRZ differential signaling means. Such a deviceor system may modulate all signals inclusive of power supply to onesignal which can be communicated or sent over a single or common coaxcable with low or minimal loss of signal amplitude (about 100 dB(nominal) at about 1 GHz, about 150 dB at about 2 GHz and about 180 dBat about 3 GHz per 100 m cable or thereabouts) and without anyrequirement to have a full duplex system. Optionally, the vision systemmay incorporate any suitable coax cable, such as a 75 Ohm coax cable ora 50 Ohm coax cable or the like. The present invention thus supplies DCpower and image data over the same coaxial line in an automotive visionsystem.

In automotive vision and safety cameras, it is known to provide a singledata communication transmitter/transceiver (-type) for transmittingimages and/or control data to a receiving unit, which may comprise adisplay, a mobile device, a head unit or any other image processingdevice or the like. The image processing device typically has onecorresponding interface matching to the transmitting interface (bus)type. The vision system may include a digital bus or an analog interfaceor both.

Typically, an expensive part of an automotive vision system's hardwaresupply is the logistics. Instead of adapting the interfaces of equalcameras or visual detecting devices or the like (such as cameras orimaging sensors or the like) to different image processing device's(different) interfaces or having two interface plugs on one camera(which takes a lot of precious space, limits design flexibility and ismore costly), a more lean and cheaper solution is on demand.

The present invention provides a vision system that has a camera that isadaptable for interfacing with different processors and/or controldevices or the like.

(1) It is acknowledged that there are a number (“n”) of video standards(digital and analog) and a number (“m”) of kinds of video cables andconnectors. Putting m×n into relation there is a finite amount ofcombinations which cover all demands for a camera interface. The presentinvention provides a solution that has a small amount of camera variantswhich differ in the kind of connectors. Cameras typically have in commonthat they need at least two different transceiver chips on board ortransceivers which are capable of maintaining more than one transmissionprotocol (or transmission standard or norm) or a mix of these, bothanalog and/or digital. Also, all kinds of emulating of protocols meantby that.

(2) Because of this, the cameras can be common or kept identical orsubstantially identical, if the cameras have modes that are switched byparameters and that are adjusted to adapt a camera to a specific displaydevice, image controller or head unit or the like. The present inventionprovides a vision system that, when powering up the vision system, suchas in an initial phase, preferably at the first activation of the cameraor system or after replacing a camera, the camera's transceiver (ortransmitter) gets tuned into an initial or primitive communication mode,which can be maintained by every display device and camera'scommunication interface (hardware and software).

(3) According to (2), above, the parameters needed for setting up thevision system's camera(s), especially the setup of the chosencommunication protocol, may be transmitted in the primitive mode initialphase.

(4) According to (3), above, after receiving the code for the chosencommunication protocol (mode), the camera and the display devicecontinue to communicate via the chosen communication protocol using theaccording transceiver hardware mentioned above.

(5) According to (2), above, the cameras parameters or a part of it, mayget held and/or updated in the display device.

(6) According to (2), above, in the initial phase, the camera is (or thecameras are) running a self-configuring routine and are initializingitself/themselves by image data or other preset parameters or sensingdata or data transmitted to them by any kind of data transmission. Thecameras may communicate between each other and/or over the displaydevice for that.

(7) According to (6), above, the result of the self-configuration is todetermine on which place the camera is mounted (at the vehicle).

(8) According to (7), above, the result of the self-configuration isfurthermore to do a stitching and alignment calibration, especially forcalibrating means of determining magnitude and distances.

(9) According to (1), above, the different connectors may comprisecoaxial cable connectors (Interfaces) or RJ45 or the like.

(10) According to (1), above, the different cables may comprise coaxialcable, shielded twisted pair (STP), unshielded twisted pair, USB cable,HDMI cable or the like.

(11) According to (1), above, the different transmission protocols orstandards may comprise NTSC, PAL, SECAM, Ethernet, Gigabit MultimediaSerial Link (GMSL), FDP-Link I, FDP-Link II, FDP-Link III, Pixel Link,USB, CAN, LIN, Flexray, Devicenet, Interbus, Modbus, Profibus, ASI,composite video, S-Video, SCART, component video, D-Terminal, VGA, HDMI,DVI, HDCP or other according the EIA/CEA-861 standard, or the like.

(12) According to (1), above, when enabling one transceiver on thecamera, the other transceiver may be disabled.

(13) According to (12), above, the disabled transceiver outputs are highimpedance or have filters making sure that the signals of the enabledtransmitter are not influenced by the driver stages circuits of disabledtransmitters, which share the same connector nodes.

(14) According to (10), above, the transmission cable may also be usedas power line for supplying the camera and/or other devices or sensors.

(15) According to (10), above, the transmission cable grid betweencamera(s) display device(s), power sources, sensor(s), actuators, andthe like may be set up as a ring, a star, or a mixture of both.

(16) According to (15), above, there may be also wireless cameras,mobile infotainment and other devices on the grid.

(17) According to (16), above, there may be also bus gateways in betweenthe grids nodes.

Thus, the present invention provides an interface, connector andtransmission cable standardization on automotive camera systems. Thevision system of the present invention incorporates one or more camerasthat are configured or adapted to communicate with various types ofcommunication or data transfer cables and various types of transmissionprotocols. The cameras for a given system and/or for various systems ondifferent vehicles, can be common or kept identical or substantiallyidentical, and the modes are switched by parameters becoming adjusted toadapt a camera to a specific display device, image controller or headunit or the like.

The present invention also provides a vehicle vision system and/ordriver assist system and/or object detection system and/or alert systemoperates that is operable to capture images exterior of the vehicle andto process the captured image data to detect objects at or near thevehicle and in the predicted path of the vehicle, such as to assist adriver of the vehicle in maneuvering the vehicle in a rearwarddirection. The vision system includes a processor that is operable toreceive image data from a camera and may receive calibration data orcodes from the camera when the camera is initially powered or activatedor when the camera is otherwise triggered to send or transmit thecalibration data (such as responsive to a triggering event such as aninitial activation of the camera or system or an input to the camera orsystem or a detection of a particular pattern or the like in the fieldof view of the camera), such that the system can identify the camera andits calibration codes such that the vision system may be automaticallycalibrated for operation, without any manual inputs or reading ofphysical labels or the like at the camera.

Referring now to FIG. 14, a vehicle 110 includes an imaging system orvision system 112 that includes one or more imaging sensors or cameras(such as a rearward facing imaging sensor or camera 114 a and/or aforwardly facing camera 114 b at the front (or at the windshield) of thevehicle, and/or a sidewardly/rearwardly facing camera 114 c, 114 b atthe sides of the vehicle), which capture images exterior of the vehicle,with the cameras having a lens for focusing images at or onto an imagingarray or imaging plane of the camera (FIG. 14). The vision system 112includes a control or processor 118 that is operable to process imagedata captured by the cameras and may provide displayed images at adisplay device 116 for viewing by the driver of the vehicle (althoughshown in FIG. 14 as being part of or incorporated in or at an interiorrearview mirror assembly 120 of the vehicle, the control and/or thedisplay device may be disposed elsewhere at or in the vehicle) and acontrol device (MCU) 122. The rear facing image sensor is connected tothe MCU by a monodirectional data line or bus 124, and the displaydevice 116 is connected to the control device 122 via a data line or bus126 (the image giving devices 114 b, 114 c, 114 d may also be connectedto the control device 122 but their data lines are not shown in FIG.14). Optionally, the control or processor of the vision system mayprocess captured image data to detect objects, such as objects to therear of the subject or equipped vehicle during a reversing maneuver, orsuch as approaching or following vehicles or vehicles at a side laneadjacent to the subject or equipped vehicle or the like.

Vehicle vision system cameras have interfaces to send or transmit orcommunicate image data and further channels to communicate control andconfiguration data to image processing units, head units or displayunits or the like. These units may be part of the vehicle's sensorcluster or driver assistance system or the like.

In order to enhance cost efficiency, vision system cameras typicallyhave as few interfaces as possible. Some known cameras have just animage output, such as an NTSC output or the like, but no further dataoutput. Such cameras are typically calibrated during their assembly (bythe supplier). The calibration data may be provided to the OEMinstalling those cameras on vehicles. For example, the data may belabeled onto the housing of the camera, such as by lasering, sticking,printing and/or the like, or in the bar codes in a one dimensional (1D)code or a two dimensional (2D) matrix and/or the like. These can be readby scanners at the OEM's vehicle assembly line when installing thecameras on or at the vehicles. Alternatively, every camera's calibrationdata set can be stored in a database which may be accessed by the OEM toread the according data set at the time the camera is assembled to avehicle on the OEM's vehicle assembly line. Such a process necessitatesidentifying every camera. Hence, at least the serial number must beidentified on each camera that is installed on a vehicle.

In cases where a vehicle vision system's camera has to be replaced by arepair service, the calibration set up of the old camera has to bereplaced by a calibration set up of the new camera. This is typically tobe done manually at the vehicle service station or repair shop.

The data handling of vision system camera's calibration sets issimplified by the present invention. The necessity for printing,installing or sticking labels to identify each camera or its specificdata set may be obviated or eliminated. The camera of the vehicle visionsystem of the present invention is enabled to automatically transfer itscalibration data set to a vision processing unit, head unit or displaydevice or the like, especially after servicing of the camera or vehiclevision system.

Vehicle vision system's cameras that have just one port, such as an NTFSimage channel, shall communicate over the port and communication linkwith the vision head unit or the like. Identification of the camera andparameters of the camera and especially the calibration data sets, whichmay be stored in a camera internal non-volatile memory as a bitmap, willbe transferred to and received and understood by the head unit orcontrol or processor. By that, the camera calibration can be transmittedautomatically on the customer (OEM) line or after replacing or servicingthe vision system and/or individual camera or cameras.

In accordance with the present invention, the camera identification,parameters and calibration sets of vision system cameras can be storedin an internal non-volatile memory, such as a bitmap or bitmap likepattern. The calibration set or sets is/are transferred to an imageprocessing device through the image channel, such as a NTSC, NTFS, PALor SECAM channel or protocol. The calibration set that is transferredthrough the image channel gets coded by a specific manner of coding. Forexample, the transferred or transmitted calibration set may be coded byan image pattern from which the camera's calibration can be restored bythe receiving image processing device.

Optionally, the transferred or transmitted calibration set may be codedby using bar codes which appear as an overlay to the image. For example,the calibration code may be coded by a 1D bar code, or by a 2D matrixcode or the like. Optionally, the calibration code overlay may comprisea color value or color tone or color pattern or the like.

The calibration data set is coded by data conjuncted, bound or added tothe image or image data picked up or captured by the camera. Thecalibration is bound to the image picked up by the camera via anysuitable means, such as by a steganography algorithm or the like.Symmetric steganography finds use here, having private keys on thecoding/encrypting side and on the uncoding/uncrypting side. Asymmetricsteganography finds use here, having a private key on thecoding/encrypting side and a public key on the uncoding/uncrypting side.

The calibration code may be transferred or transmitted or communicatedat any time. For example, the calibration code may be transferred in thefirst image's line or frame, and/or the calibration code may betransferred in the last image's line or frame, and/or the calibrationcode may be transferred in the first and last images' lines or frames.Optionally, the calibration code overlay may be placed or located in acorner of an image (or elsewhere in the image).

Optionally, the code may be transferred instead of an image picked up bythe camera. For example, the code may be transferred instead of an imagefor a specific time or the code may be transferred instead of an imageat a specific time. Optionally, the calibration code image may comprisea color code, such as a color value or color tone or color pattern orthe like.

Optionally, the calibration code may be transferred within the ‘verticalblanking interval’ (pause time between two frames) or separated in partswithin several blanking intervals, which may be consecutive, repeated bya certain number of intervals or with gaps in between. Typical systemsmay be able to transfer about 6 bytes during one vertical blankinginterval and about 900 bytes may be transferred when replacing one imageframe by one data frame.

Optionally, the calibration code may be transferred as or within thefirst image or frame captured or transmitted by the camera, such as whenthe camera is initially powered up. The code may be transferred from thefirst image for a specific time or may be transferred as or within oneimage at a specific time. Optionally, the calibration code may betransferred as or within several images. Optionally, the same pattern orcode may be transferred as or within several consecutive images orframes (such as shown in FIG. 15), such as transferred as or withinseveral consecutive images at a specific time or transferred as orwithin several consecutive images at several specific times of a timepattern.

Optionally, and with reference to FIG. 16, a time scheme transferscamera data within the first three frames, such as, for example, duringinitialization. As shown in FIG. 16, the dark gray portions representcamera data, the light gray portions represent image data and the whiteportions represent no data. Optionally, and with reference to FIG. 17, atime scheme transferring camera data during a vertical blanking intervalis shown, with the time of the blanking interval being relatively smallcompared to the time it takes to transfer an image frame. As shown inFIG. 17, the dark gray portions represent camera data, the light grayportions represent image data and the white portions represent no data.Optionally, and with reference to FIG. 18, an enlarged timeframe of thevertical blanking time interval of FIG. 17 is shown, with 16 data bitbeing transferred within one interval. As shown in FIG. 18, the darkgray portions represent camera data, the light gray portions representimage data, the very dark gray portions represent high pulse (positivebits) within the vertical blanking interval and the white portionsrepresent no data.

Optionally, the same calibration code may be transferred as or withinseveral images (such as non-consecutive images) at a specific timepattern. Optionally, the code may be divided up into several consecutiveimages so the code images are different to each other. Optionally, thecoded consecutive images are embedded to a flick.

The code may be transferred via any suitable protocol or signal. Forexample, the code may be transferred as a non NTFS signal, such as a nonNTFS signal that is out of the NTFS bandwidth, or such as a non NTFSsuperpositioned to the NTFS signal. Optionally, the code may betransferred instead of the NTFS signal. Optionally, the code may betransferred as a side band of the NTFS signal.

Optionally, the camera may be set to its calibration mode responsive totriggering event, such as an input or detection of a code or patternplaced in the field of view of the camera via processing of image datacaptured by the camera. For example, the camera may be set to itscalibration mode (and not exclusively set into the calibration mode) bybeing shown an optical code. Such an optical code may comprise anysuitable pattern or code, such as a specific pattern, such as a bar codeor a two dimensional (2D) matrix code or a color code or a color valueor color tone or the image's mean value color value or color. The codemay be transferred within several images. Optionally, the camera may beset to its calibration mode (and not exclusively set into thecalibration mode) by a signal or on/off switch pattern at its powerline.

Therefore, the present invention provides a vision system for a vehiclethat includes a processor or head unit and a camera or cameras mountedat the vehicle. The processor or head unit is operable to receivecalibration data or codes from the camera that are automaticallytransmitted by the camera when the camera is activated or when thecamera is otherwise triggered to send or transmit the calibration data(such as responsive to an input or responsive to detection of aparticular pattern or the like in the field of view of the camera). Thevision system thus is operable to identify the camera or cameras andassociated calibration codes such that the vision system may beautomatically calibrated for operation, without any manual inputs orreading of physical labels or the like at the camera.

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inU.S. provisional applications, Ser. No. 61/563,965, filed Nov. 28, 2011;and/or Ser. No. 61/565,713, filed Dec. 1, 2011, which are herebyincorporated herein by reference in their entireties.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ultrasonic sensors or thelike. The imaging sensor or camera may capture image data for imageprocessing and may comprise any suitable camera or sensing device, suchas, for example, an array of a plurality of photosensor elementsarranged in 640 columns and 480 rows (a 640×480 imaging array), with arespective lens focusing images onto respective portions of the array.The photosensor array may comprise a plurality of photosensor elementsarranged in a photosensor array having rows and columns. The logic andcontrol circuit of the imaging sensor may function in any known manner,such as in the manner described in U.S. Pat. Nos. 5,550,677; 5,877,897;6,498,620; 5,670,935; 5,796,094 and/or 6,396,397, and/or U.S.provisional applications, Ser. No. 61/696,416, filed Sep. 4, 2012; Ser.No. 61/682,995, filed Aug. 14, 2012; Ser. No. 61/682,486, filed Aug. 13,2012; Ser. No. 61/680,883, filed Aug. 8, 2012; Ser. No. 61/678,375,filed Aug. 1, 2012; Ser. No. 61/676,405, filed Jul. 27, 2012; Ser. No.61/666,146, filed Jun. 29, 2012; Ser. No. 61/653,665, filed May 31,2012; Ser. No. 61/653,664, filed May 31, 2012; Ser. No. 61/648,744,filed May 18, 2012; Ser. No. 61/624,507, filed Apr. 16, 2012; Ser. No.61/616,126, filed Mar. 27, 2012; Ser. No. 61/615,410, filed Mar. 26,2012; Ser. No. 61/613,651, filed Mar. 21, 2012; Ser. No. 61/607,229,filed Mar. 6, 2012; Ser. No. 61/605,409, filed Mar. 1, 2012; Ser. No.61/602,878, filed Feb. 24, 2012; Ser. No. 61/602,876, filed Feb. 24,2012; Ser. No. 61/600,205, filed Feb. 17, 2012; Ser. No. 61/588,833,filed Jan. 20, 2012; Ser. No. 61/583,381, filed Jan. 5, 2012; Ser. No.61/579,682, filed Dec. 23, 2011; Ser. No. 61/570,017, filed Dec. 13,2011; Ser. No. 61/568,791, filed Dec. 9, 2011; Ser. No. 61/567,446,filed Dec. 6, 2011; Ser. No. 61/559,970, filed Nov. 15, 2011; and/orSer. No. 61/552,167, filed Oct. 27, 2011, and/or PCT Application No.PCT/CA2012/000378, filed Apr. 25, 2012, and published Nov. 1, 2012 asInternational Publication No. WO 2012/145822, and/or PCT Application No.PCT/US2012/048800, filed Jul. 30, 2012, and published Feb. 7, 2013 asInternational Publication No. WO 2013/019707, and/or PCT Application No.PCT/US2012/048110, filed Jul. 25, 2012, and published Jan. 31, 2013 asInternational Publication No. WO 2013/016409, and/or U.S. patentapplication Ser. No. 13/534,657, filed Jun. 27, 2012, and published Jan.3, 2013 as U.S. Publication No. US-2013-0002873, which are all herebyincorporated herein by reference in their entireties. The system maycommunicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in PCT ApplicationNo. PCT/US10/038477, filed Jun. 14, 2010, and/or U.S. patent applicationSer. No. 13/202,005, filed Aug. 17, 2011, now U.S. Pat. No. 9,126,525,and/or U.S. provisional applications, Ser. No. 61/650,667, filed May 23,2012; Ser. No. 61/579,682, filed Dec. 23, 2011; Ser. No. 61/565,713,filed Dec. 1, 2011, which are hereby incorporated herein by reference intheir entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,123,168;7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and6,824,281, and/or International Publication No. WO 2010/099416,published Sep. 2, 2010, and/or PCT Application No. PCT/US10/47256, filedAug. 31, 2010, and/or U.S. patent application Ser. No. 12/508,840, filedJul. 24, 2009, and published Jan. 28, 2010 as U.S. Pat. Publication No.US 2010-0020170; and/or PCT Application No. PCT/US2012/048110, filedJul. 25, 2012, and published Jan. 31, 2013 as International PublicationNo. WO 2013/016409, and/or U.S. patent application Ser. No. 13/534,657,filed Jun. 27, 2012, and published Jan. 3, 2013 as U.S. Publication No.US-2013-0002873, which are all hereby incorporated herein by referencein their entireties. The camera or cameras may comprise any suitablecameras or imaging sensors or camera modules, and may utilize aspects ofthe cameras or sensors described in U.S. patent application Ser. No.12/091,359, filed Apr. 24, 2008 and published Oct. 1, 2009 as U.S.Publication No. US-2009-0244361; and/or Ser. No. 13/260,400, filed Sep.26, 2011, now U.S. Pat. Nos. 8,542,451, and/or 7,965,336 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties. The imaging array sensor may comprise any suitable sensor,and may utilize various imaging sensors or imaging array sensors orcameras or the like, such as a CMOS imaging array sensor, a CCD sensoror other sensors or the like, such as the types described in U.S. Pat.Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093; 5,877,897; 6,922,292;6,757,109; 6,717,610; 6,590,719; 6,201,642; 6,498,620; 5,796,094;6,097,023; 6,320,176; 6,559,435; 6,831,261; 6,806,452; 6,396,397;6,822,563; 6,946,978; 7,339,149; 7,038,577; 7,004,606 and/or 7,720,580,and/or U.S. patent application Ser. No. 10/534,632, filed May 11, 2005,now U.S. Pat. No. 7,965,336; and/or PCT Application No.PCT/US2008/076022, filed Sep. 11, 2008 and published Mar. 19, 2009 asInternational Publication No. WO 2009/036176, and/or PCT Application No.PCT/US2008/078700, filed Oct. 3, 2008 and published Apr. 9, 2009 asInternational Publication No. WO 2009/046268, which are all herebyincorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or 7,526,103,which are all hereby incorporated herein by reference in theirentireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or7,480,149, which are hereby incorporated herein by reference in theirentireties, a vehicle vision system, such as a forwardly, sidewardly orrearwardly directed vehicle vision system utilizing principles disclosedin U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,877,897; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978 and/or 7,859,565, which are all herebyincorporated herein by reference in their entireties, a trailer hitchingaid or tow check system, such as the type disclosed in U.S. Pat. No.7,005,974, which is hereby incorporated herein by reference in itsentirety, a reverse or sideward imaging system, such as for a lanechange assistance system or lane departure warning system or for a blindspot or object detection system, such as imaging or detection systems ofthe types disclosed in U.S. Pat. Nos. 7,720,580; 7,038,577; 5,929,786and/or 5,786,772, and/or U.S. patent application Ser. No. 11/239,980,filed Sep. 30, 2005, now U.S. Pat. No. 7,881,496, and/or U.S.provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004; Ser.No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filed Oct. 14,2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which are herebyincorporated herein by reference in their entireties, a video device forinternal cabin surveillance and/or video telephone function, such asdisclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268 and/or7,370,983, and/or U.S. patent application Ser. No. 10/538,724, filedJun. 13, 2005 and published Mar. 9, 2006 as U.S. Publication No.US-2006-0050018, which are hereby incorporated herein by reference intheir entireties, a traffic sign recognition system, a system fordetermining a distance to a leading or trailing vehicle or object, suchas a system utilizing the principles disclosed in U.S. Pat. Nos.6,396,397 and/or 7,123,168, which are hereby incorporated herein byreference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. Nos. 7,255,451 and/or7,480,149; and/or U.S. patent application Ser. No. 11/226,628, filedSep. 14, 2005 and published Mar. 23, 2006 as U.S. Publication No.US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct. 14, 2009, nowU.S. Pat. No. 9,487,144, which are hereby incorporated herein byreference in their entireties.

Optionally, the vision system may include a display for displayingimages captured by one or more of the imaging sensors for viewing by thedriver of the vehicle while the driver is normally operating thevehicle. Optionally, for example, the vision system may include a videodisplay device disposed at or in the interior rearview mirror assemblyof the vehicle, such as by utilizing aspects of the video mirror displaysystems described in U.S. Pat. No. 6,690,268 and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, which are hereby incorporated herein by reference in theirentireties. The video mirror display may comprise any suitable devicesand systems and optionally may utilize aspects of the compass displaysystems described in U.S. Pat. Nos. 7,370,983; 7,329,013; 7,308,341;7,289,037; 7,249,860; 7,004,593; 4,546,551; 5,699,044; 4,953,305;5,576,687; 5,632,092; 5,677,851; 5,708,410; 5,737,226; 5,802,727;5,878,370; 6,087,953; 6,173,508; 6,222,460; 6,513,252 and/or 6,642,851,and/or European patent application, published Oct. 11, 2000 underPublication No. EP 0 1043566, and/or U.S. patent application Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in PCT Application No.PCT/US2011/056295, filed Oct. 14, 2011 and published Apr. 19, 2012 asInternational Publication No. WO 2012/051500, which is herebyincorporated herein by reference in its entirety). Optionally, thevision system may provide a display of a top-down view or birds-eye viewof the vehicle or a surround view at the vehicle, such as by utilizingaspects of the vision systems described in PCT Application No.PCT/US10/25545, filed Feb. 26, 2010 and published on Sep. 2, 2010 asInternational Publication No. WO 2010/099416, and/or PCT Application No.PCT/US10/47256, filed Aug. 31, 2010 and published Mar. 10, 2011 asInternational Publication No. WO 2011/028686, and/or U.S. patentapplication Ser. No. 13/333,337, filed Dec. 21, 2011, now U.S. Pat. No.9,264,672, and/or PCT Application No. PCT/CA2012/000378, filed Apr. 25,2012, and published Nov. 1, 2012 as International Publication No. WO2012/145822, and/or U.S. provisional application Ser. No. 61/559,970,filed Nov. 15, 2011, which are hereby incorporated herein by referencein their entireties.

Optionally, the video mirror display may be disposed rearward of andbehind the reflective element assembly and may comprise a display suchas the types disclosed in U.S. Pat. Nos. 5,530,240; 6,329,925;7,626,749; 7,581,859; 7,338,177; 7,274,501; 7,255,451; 7,195,381;7,184,190; 5,668,663; 5,724,187 and/or 6,690,268, and/or in U.S. patentapplication Ser. No. 12/091,525, filed Apr. 25, 2008, now U.S. Pat. No.7,855,755; Ser. No. 11/226,628, filed Sep. 14, 2005 and published Mar.23, 2006 as U.S. Publication No. US-2006-0061008; and/or Ser. No.10/538,724, filed Jun. 13, 2005 and published Mar. 9, 2006 as U.S.Publication No. US-2006-0050018, which are all hereby incorporatedherein by reference in their entireties. The display is viewable throughthe reflective element when the display is activated to displayinformation. The display element may be any type of display element,such as a vacuum fluorescent (VF) display element, a light emittingdiode (LED) display element, such as an organic light emitting diode(OLED) or an inorganic light emitting diode, an electroluminescent (EL)display element, a liquid crystal display (LCD) element, a video screendisplay element or backlit thin film transistor (TFT) display element orthe like, and may be operable to display various information (asdiscrete characters, icons or the like, or in a multi-pixel manner) tothe driver of the vehicle, such as passenger side inflatable restraint(PSIR) information, tire pressure status, and/or the like. The mirrorassembly and/or display may utilize aspects described in U.S. Pat. Nos.7,184,190; 7,255,451; 7,446,924 and/or 7,338,177, which are all herebyincorporated herein by reference in their entireties. The thicknessesand materials of the coatings on the substrates of the reflectiveelement may be selected to provide a desired color or tint to the mirrorreflective element, such as a blue colored reflector, such as is knownin the art and such as described in U.S. Pat. Nos. 5,910,854; 6,420,036and/or 7,274,501, which are hereby incorporated herein by reference intheir entireties.

Optionally, the display or displays and any associated user inputs maybe associated with various accessories or systems, such as, for example,a tire pressure monitoring system or a passenger air bag status or agarage door opening system or a telematics system or any other accessoryor system of the mirror assembly or of the vehicle or of an accessorymodule or console of the vehicle, such as an accessory module or consoleof the types described in U.S. Pat. Nos. 7,289,037; 6,877,888;6,824,281; 6,690,268; 6,672,744; 6,386,742 and 6,124,886, and/or U.S.patent application Ser. No. 10/538,724, filed Jun. 13, 2005 andpublished Mar. 9, 2006 as U.S. Publication No. US-2006-0050018, whichare hereby incorporated herein by reference in their entireties.

The display or displays may comprise a video display and may utilizeaspects of the video display devices or modules described in U.S. Pat.Nos. 6,690,268; 7,184,190; 7,274,501; 7,370,983 and/or 7,446,650, and/orU.S. patent application Ser. No. 12/091,525, filed Apr. 25, 2008, nowU.S. Pat. No. 7,855,755; and/or Ser. No. 10/538,724, filed Jun. 13, 2005and published Mar. 9, 2006 as U.S. Publication No. US-2006-0050018,which are all hereby incorporated herein by reference in theirentireties. The video display may be operable to display images capturedby one or more imaging sensors or cameras at the vehicle.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A vehicular vision system, said vehicularvision system comprising: a plurality of imaging sensors disposed at avehicle and having respective exterior fields of view, each of saidimaging sensors capturing respective image data; an electronic controlunit (ECU) disposed at the vehicle and comprising (i) a data processorand (ii) a DC power supply; wherein said imaging sensors are connectedto said ECU via respective ones of a plurality of single core coaxialcables; wherein each of said single core coaxial cables commonly carries(i) image data from the respective imaging sensor to the ECU forprocessing at the data processor and (ii) power from the DC power supplyto the respective imaging sensor; wherein a communication protocol istransmitted by said ECU to each of said imaging sensors; wherein imagedata from the respective imaging sensor to said ECU is carried by therespective single core coaxial cable in accordance with thecommunication protocol; and wherein each of said imaging sensors is inbidirectional communication with said ECU over the respective singlecore coaxial cable using the communication protocol, with signalattenuation being below 100 dB at a frequency of 1 GHz per 100 m lengthof the respective single core coaxial cable.
 2. The vehicular visionsystem of claim 1, wherein each respective single core coaxial cablecomprises a 50 ohm single core coaxial cable.
 3. The vehicular visionsystem of claim 1, wherein each respective single core coaxial cablecomprises a 75 ohm single core coaxial cable.
 4. The vehicular visionsystem of claim 1, wherein power from the DC power supply of said ECU tothe respective imaging sensor is at an electrical current less than orequal to 900 mA.
 5. The vehicular vision system of claim 1, wherein eachof said imaging sensors is in bidirectional communication with said ECUover the respective single core coaxial cable using the communicationprotocol, with signal attenuation below 150 dB at a frequency of 2 GHzper 100 m length of the respective single core coaxial cable.
 6. Thevehicular vision system of claim 1, wherein each of said imaging sensorsis in bidirectional communication with said ECU over the respectivesingle core coaxial cable using the communication protocol, with signalattenuation below 180 dB at a frequency of 3 GHz per 100 m length of therespective single core coaxial cable.
 7. The vehicular vision system ofclaim 1, wherein each of said imaging sensors transmits calibration datato said ECU.
 8. The vehicular vision system of claim 7, wherein each ofsaid imaging sensors transmits the calibration data to said ECUresponsive to a triggering event.
 9. The vehicular vision system ofclaim 8, wherein the triggering event comprises an initial activation ofthe respective imaging sensor.
 10. The vehicular vision system of claim8, wherein the triggering event comprises detection of a particularpattern in the exterior field of view of the respective imaging sensor.11. The vehicular vision system of claim 1, wherein communication viaeach of said single core coaxial cables comprises communication via LowVoltage Differential Signaling (LVDS).
 12. The vehicular vision systemof claim 1, further comprising a display device disposed in the vehicleand operable to display images derived from image data captured by atleast one of said imaging sensors for viewing by a driver of thevehicle.
 13. The vehicular vision system of claim 12, wherein, wheninitially powered, each of said imaging sensors is in a respectiveinitial mode, and wherein, while each of said imaging sensors is in therespective initial mode, each of said imaging sensors communicates,using the communication protocol, with said display device.
 14. Thevehicular vision system of claim 1, wherein, when initially powered,each of said imaging sensors is in a respective initial mode, andwherein, with each of said imaging sensors in the respective initialmode, the communication protocol is transmitted by said ECU to each ofsaid imaging sensors.
 15. The vehicular vision system of claim 14,wherein, when said imaging sensors are initially, a transceiver of eachof said imaging sensors is tuned to the respective initial mode.
 16. Thevehicular vision system of claim 1, wherein each of said single corecoaxial cables comprises (i) an inner metallic core, (ii) a dielectricmedium, (iii) a foil screen, (iv) an outer metallic conductor and (v) anouter sheath.
 17. The vehicular vision system of claim 1, wherein eachof said single core coaxial cables interfaces via a first signal nodecomprising a core of the respective single core coaxial cable and asecond signal node comprising a shield of the respective single corecoaxial cable.
 18. A vehicular vision system, said vehicular visionsystem comprising: a plurality of imaging sensors disposed at a vehicleand having respective exterior fields of view, each of said imagingsensors capturing respective image data; an electronic control unit(ECU) disposed at the vehicle and comprising (i) a data processor and(ii) a DC power supply; wherein said imaging sensors are connected tosaid ECU via respective ones of a plurality of single core coaxialcables; wherein each of said single core coaxial cables commonly carries(i) image data from the respective imaging sensor to said ECU forprocessing at the data processor and (ii) power from the DC power supplyto the respective imaging sensor; wherein power from the DC power supplyof said ECU to the respective imaging sensor is at an electrical currentless than or equal to 900 mA; wherein image data from the respectiveimaging sensor to said ECU is carried by the respective single corecoaxial cable; wherein each of said imaging sensors is in bidirectionalcommunication with said ECU over the respective single core coaxialcable, with signal attenuation being below 100 dB at a frequency of 1GHz per 100 m length of the respective single core coaxial cable; andwherein communication via each of said single core coaxial cablescomprises communication via Low Voltage Differential Signaling (LVDS).19. The vehicular vision system of claim 18, wherein each respectivesingle core coaxial cable comprises a 50 ohm single core coaxial cable.20. The vehicular vision system of claim 18, wherein each respectivesingle core coaxial cable comprises a 75 ohm single core coaxial cable.21. The vehicular vision system of claim 18, wherein each of saidimaging sensors is in bidirectional communication with said ECU over therespective single core coaxial cable, with signal attenuation below 150dB at a frequency of 2 GHz per 100 m length of the respective singlecore coaxial cable.
 22. The vehicular vision system of claim 18, whereineach of said imaging sensors is in bidirectional communication with saidECU over the respective single core coaxial cable, with signalattenuation below 180 dB at a frequency of 3 GHz per 100 m length of therespective single core coaxial cable.
 23. The vehicular vision system ofclaim 18, wherein each of said imaging sensors transmits calibrationdata to said ECU.
 24. The vehicular vision system of claim 18, furthercomprising a display device disposed in the vehicle and operable todisplay images derived from image data captured by at least one of saidimaging sensors for viewing by a driver of the vehicle.
 25. Thevehicular vision system of claim 24, wherein, when initially powered,each of said imaging sensors is in a respective initial mode, andwherein, while each of said imaging sensors is in the respective initialmode, each of said imaging sensors communicates with said displaydevice.
 26. A vehicular vision system, said vehicular vision systemcomprising: a plurality of imaging sensors disposed at a vehicle andhaving respective exterior fields of view, each of said imaging sensorscapturing respective image data; an electronic control unit (ECU)disposed at the vehicle and comprising (i) a data processor and (ii) aDC power supply; wherein said imaging sensors are connected to said ECUvia respective ones of a plurality of single core coaxial cables;wherein each of said single core coaxial cables comprises (i) an innermetallic core, (ii) a dielectric medium, (iii) a foil screen, (iv) anouter metallic conductor and (v) an outer sheath; wherein each of saidsingle core coaxial cables commonly carries (i) image data from therespective imaging sensor to said ECU for processing at the dataprocessor and (ii) power from the DC power supply to the respectiveimaging sensor; wherein a communication protocol is transmitted by saidECU to each of said imaging sensors; wherein image data from therespective imaging sensor to said ECU is carried by the respectivesingle core coaxial cable in accordance with the communication protocol;wherein each of said imaging sensors transmits calibration data to saidECU; and wherein each of said imaging sensors is in bidirectionalcommunication with said ECU over the respective single core coaxialcable using the communication protocol, with signal attenuation beingbelow 100 dB at a frequency of 1 GHz per 100 m length of the respectivesingle core coaxial cable.
 27. The vehicular vision system of claim 26,wherein each respective single core coaxial cable comprises a 50 ohmsingle core coaxial cable.
 28. The vehicular vision system of claim 26,wherein each respective single core coaxial cable comprises a 75 ohmsingle core coaxial cable.
 29. The vehicular vision system of claim 26,wherein power from the DC power supply of said ECU to the respectiveimaging sensor is at an electrical current less than or equal to 900 mA.30. The vehicular vision system of claim 26, wherein each of saidimaging sensors is in bidirectional communication with said ECU over therespective single core coaxial cable using the communication protocol,with signal attenuation below 150 dB at a frequency of 2 GHz per 100 mlength of the respective single core coaxial cable.
 31. The vehicularvision system of claim 26, wherein each of said imaging sensors is inbidirectional communication with said ECU over the respective singlecore coaxial cable using the communication protocol, with signalattenuation below 180 dB at a frequency of 3 GHz per 100 m length of therespective single core coaxial cable.
 32. The vehicular vision system ofclaim 26, wherein each of said imaging sensors transmits the calibrationdata to said ECU responsive to a triggering event.
 33. The vehicularvision system of claim 32, wherein the triggering event comprises aninitial activation of the respective imaging sensor.
 34. The vehicularvision system of claim 32, wherein the triggering event comprisesdetection of a particular pattern in the exterior field of view of therespective imaging sensor.
 35. The vehicular vision system of claim 26,further comprising a display device disposed in the vehicle and operableto display images derived from image data captured by at least one ofsaid imaging sensors for viewing by a driver of the vehicle.
 36. Thevehicular vision system of claim 35, wherein, when initially powered,each of said imaging sensors is in a respective initial mode, andwherein, while each of said imaging sensors is in the respective initialmode, each of said imaging sensors communicates, using the communicationprotocol, with said display device.
 37. The vehicular vision system ofclaim 26, wherein, when initially powered, each of said imaging sensorsis in a respective initial mode, and wherein, with each of said imagingsensors in the respective initial mode, the communication protocol istransmitted by said ECU to each of said imaging sensors.
 38. Thevehicular vision system of claim 37, wherein, when said imaging sensorsare initially, a transceiver of each of said imaging sensors is tuned tothe respective initial mode.